ID PW
 
* Join the Member of ICROS 
* Need your ID or Password?
 
 
 
Subject Keyword Abstract Author
 
 
Attractive Ellipsoid Method Controller under Noised Measurements for SLAM

Hussain Alazki*, Eric Hernández, Juan M. Ibarra and Alexander Poznyak
International Journal of Control, Automation, and Systems, vol. 15, no. 6, pp.2764-2775, 2017

Abstract : "This paper presents a novel algorithm for Simultaneous Localization and Mapping (SLAM) of mobile robots. The proposed algorithm, termed as SLAM using on Attractive Ellipsoid Method (AEM) and Luenberger filter-type application with nonlinear models, under the hypothesis that errors affecting all sensor’s measurements and robot’s motions are unknown-but-bounded. We suggest to select the best parameters of the suggested observer providing a minimal size of this attractive ellipsoid. It is shown that this optimization problem may be converted into the trace optimization of this attractive ellipsoid under some specific constraints of a set of LMI’s (Linear Matrix Inequalities). Simulated indoor experiments are used to demonstrate the performance of the proposed algorithm."

Keyword : Linear matrix inequalities, robust attractive ellipsoid method, SLAM.

 
Copyright ⓒ ICROS. All rights reserved.
Institute of Control, Robotics and Systems, Suseo Hyundai-Ventureville 723, Bamgogae-ro 1-gil 10, Gangnam-gu, Seoul 06349, Korea
Homepage http://eng.icros.org | Tel. +82-2-6949-5801 (ext. 3) | Fax. +82-2-6949-5807 | E-mail icros@icros.org